A laser trajectory generation method, system, device and medium

Abstract

The present application belongs to the technical field of shoemaking, and aims to provide a laser track generation method, system, device and medium. The present application can generate a laser track three-dimensional point sequence set matched with the shape of the laser roughening surface of an object such as a shoe upper and a shoe sole, is suitable for laser roughening of an object with a curved surface, and is beneficial to improving the laser roughening effect. In the implementation process of the present application, a three-dimensional collection point set of the laser roughening surface is first obtained, then a triangulated surface corresponding to the three-dimensional collection point set is obtained according to the three-dimensional collection point set, the triangulated surface is then smoothed to obtain a smoothed surface, and finally a laser track three-dimensional point sequence set is obtained according to the smoothed surface, so as to drive a laser emitting device to perform laser roughening on the laser roughening surface based on the laser track three-dimensional point sequence set. The laser roughening points are matched with the laser roughening surface, the laser roughening effect is good, and the quality of shoemaking is improved.

Description

Technical Field

[0001] This invention belongs to the field of shoemaking technology, specifically relating to a laser trajectory generation method, system, device, and medium. Background Technology

[0002] In shoe manufacturing, to ensure sufficient adhesion between the upper and sole, the overlapping area is roughened. Currently, automated equipment for roughening uppers is rare; it's generally done manually using electric or handheld grinders. However, manual roughening results in inconsistent quality, heavily reliant on the operator's skill level. Furthermore, the process generates significant amounts of dust, negatively impacting worker health and well-being.

[0003] To address the aforementioned problems with manual roughening, six-axis robotic roughening workstations have emerged, which automate the roughening of shoe uppers by installing electric / pneumatic grinding wheels at the end of the six-axis robot. However, grinding wheel-based roughening physically damages the surface, easily leading to inconsistent surface roughness and making it difficult to achieve uniform adhesion between the upper and sole. To address this, laser roughening methods have also been developed. These methods use high-energy lasers to sinter the upper surface, achieving chemical-level surface damage. Furthermore, because laser parameters are controllable, the roughening consistency is excellent, significantly improving shoe quality and standardization.

[0004] However, during the laser roughing process using existing technologies, the inventors discovered at least the following problems:

[0005] In existing technologies, methods for roughening shoe uppers using lasers all employ planar roughening, assuming the surface to be roughened is flat and then using a two-dimensional galvanometer to perform laser roughening on that surface. However, the actual surface to be roughened on a shoe upper is curved. In existing technologies using a two-dimensional galvanometer, the trajectory generation method is implemented on a plane, resulting in a two-dimensional trajectory. This means the galvanometer can only focus the laser at a fixed plane height. Therefore, this method produces inconsistent roughening effects at different locations on the shoe upper surface, affecting shoe manufacturing quality. Summary of the Invention

[0006] The present invention aims to solve the above-mentioned technical problems to at least a certain extent, and provides a laser trajectory generation method, system, device and medium.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a laser trajectory generation method, comprising:

[0009] Obtain the set of 3D acquisition points;

[0010] Based on the set of three-dimensional acquisition points, a triangulated surface corresponding to the set of three-dimensional acquisition points is obtained;

[0011] The triangulated surface is smoothed to obtain a smoothed surface;

[0012] Based on the smoothed surface, a set of three-dimensional point sequences of the laser trajectory is obtained.

[0013] This embodiment can generate a set of three-dimensional point sequences of laser trajectories that match the shape of the surface to be laser-coated, such as shoe uppers and soles. It is suitable for laser coating of objects with curved surfaces, thus improving the laser coating effect. Specifically, in the implementation process, the present invention first obtains a set of three-dimensional acquisition points of the surface to be laser-coated. Then, based on the set of three-dimensional acquisition points, a triangulated surface corresponding to the set of three-dimensional acquisition points is obtained. The triangulated surface is then smoothed to obtain a smoothed surface. Finally, based on the smoothed surface, a set of three-dimensional point sequences of laser trajectories is obtained. This allows the laser emitting device to be driven to perform laser coating on the surface to be laser-coated based on the set of three-dimensional point sequences of laser trajectories. The matching of the laser coating points with the surface results in a better laser coating effect, which is beneficial for improving the quality of shoe manufacturing.

[0014] In one possible design, based on the set of three-dimensional acquisition points, a triangulated surface corresponding to the set of three-dimensional acquisition points is obtained, including:

[0015] Based on the triangulation generation algorithm, all three-dimensional acquisition points in the set of three-dimensional acquisition points are triangulated to obtain a triangulated surface; wherein, the triangulation generation algorithm adopts the Lawson algorithm.

[0016] In one possible design, each 3D acquisition point in the set of 3D acquisition points carries type labeling information; the set of 3D acquisition points includes an outer boundary acquisition point set and an inner boundary acquisition point set, wherein the 3D acquisition points in the outer boundary acquisition point set are outer boundary points, and the 3D acquisition points in the inner boundary acquisition point set are inner boundary points; the type labeling information is either outer boundary point labeling information that matches the outer boundary points in the outer boundary acquisition point set or inner boundary point labeling information that matches the inner boundary points in the inner boundary acquisition point set.

[0017] In one possible design, the outer boundary points in the set of outer boundary acquisition points are denoted as P. O Let P be the inner boundary point in the set of inner boundary collection points. I Based on the set of three-dimensional acquisition points, a triangulated surface corresponding to the set of three-dimensional acquisition points is obtained, including:

[0018] The outer boundary point P O and the inner boundary point P I Perform plane fitting to obtain the projection plane;

[0019] The outer boundary point P O and the inner boundary point P I Projecting onto the projection plane yields the outer boundary point P. O Corresponding peripheral projection points and inner boundary point P I Corresponding inner projection points

[0020] With an inner projection point As the pole, the inner projection point and an outer projection point Establish a polar coordinate system with the line connecting the two axes as the polar axis;

[0021] For all inner projection points in the polar coordinate system and peripheral projection points Perform a polar coordinate transformation to obtain the projection points excluding the inner perimeter in a rectangular coordinate system. and peripheral projection points The projection point after unfolding outside;

[0022] For the unfolded projection points and inner perimeter projection points and peripheral projection points Triangulation is performed to obtain a triangulated surface.

[0023] In one possible design, the unfolded projection points include the unfolded inner perimeter projection points. and the outer projection points after unfolding For the unfolded projection points and inner perimeter projection points and peripheral projection points Triangulation is performed to obtain a triangulated surface, including:

[0024] Based on the triangulation generation algorithm, the inner perimeter projection points after unfolding are... and the outer projection points after unfolding Triangulation is performed to obtain the first triangular mesh;

[0025] In the preset three-dimensional space, take the inner perimeter projection points respectively. Corresponding previous inner projection point and peripheral projection points The corresponding previous outer projection point

[0026] Take the inner projection point Inner perimeter projection point Peripheral projection points and peripheral projection points Construct a triangle from any three projection points in the matrix, and find the smallest circumcircle of the triangle;

[0027] Determine the inner projection point Inner perimeter projection point Peripheral projection points and peripheral projection points If the remaining projection points are inside the smallest circumcircle, then re-select the inner projection points. Inner perimeter projection point Peripheral projection points and peripheral projection points Construct a triangle from any three projection points until the remaining projection points are outside the smallest circumcircle, then proceed to the next step; otherwise, proceed to the next step.

[0028] Use the triangle corresponding to the smallest circumcircle as the second triangle mesh;

[0029] The first triangular mesh and the second triangular mesh are combined to obtain a triangularized surface.

[0030] In one possible design, the triangulated surface is smoothed to obtain a smoothed surface, including:

[0031] Point cloud resampling is performed on the face containing each triangle mesh in the triangular surface to obtain two-dimensional plane sampling points of the triangular surface;

[0032] Obtain the three-dimensional coordinates of all two-dimensional plane sampling points to obtain the three-dimensional sampling point set P;

[0033] For each two-dimensional plane sampling point, a spherical region with radius r is set with the two-dimensional plane sampling point as the center, and the updated coordinates of the two-dimensional plane sampling point are obtained. The updated coordinates of any two-dimensional plane sampling point are the average of the three-dimensional coordinates of all two-dimensional plane sampling points in the corresponding spherical region.

[0034] The smoothed surface is obtained based on the updated coordinates of all the two-dimensional plane sampling points.

[0035] In one possible design, based on the smoothed surface, a set of three-dimensional point sequences of the laser trajectory is obtained, including:

[0036] A two-dimensional coverage trajectory is generated on the smoothed surface according to preset laser path parameters;

[0037] The two-dimensional coverage trajectory is sampled at equal intervals to obtain trajectory sampling points;

[0038] The three-dimensional coordinates of the trajectory sampling points in a preset three-dimensional space are obtained, and all three-dimensional coordinates constitute a set of three-dimensional point sequences of the laser trajectory.

[0039] In a second aspect, the present invention provides a laser trajectory generation system for implementing the laser trajectory generation method as described in any of the preceding claims; the laser trajectory generation system includes:

[0040] The contour point acquisition module is used to acquire a set of 3D acquisition points;

[0041] The triangulation module is communicatively connected to the contour point acquisition module and is used to obtain a triangulated surface corresponding to the three-dimensional acquisition point set based on the three-dimensional acquisition point set.

[0042] A surface smoothing module, which is communicatively connected to the triangulation module, is used to smooth the triangulated surface to obtain a smoothed surface.

[0043] The laser point generation module is communicatively connected to the surface smoothing module and is used to obtain a set of three-dimensional point sequences of laser trajectories based on the smoothed surface.

[0044] Thirdly, the present invention provides an electronic device, comprising:

[0045] Memory, used to store computer program instructions; and,

[0046] A processor for executing the computer program instructions to perform the operation of the laser trajectory generation method as described in any of the preceding claims.

[0047] Fourthly, the present invention provides a computer-readable storage medium for storing computer-readable computer program instructions configured to perform operations of the laser trajectory generation method as described in any of the preceding claims when executed. Attached Figure Description

[0048] Figure 1 This is a flowchart of the laser trajectory generation method in Example 1;

[0049] Figure 2 This is a schematic diagram of generating the triangulated surface in Example 1;

[0050] Figure 3 This is a schematic diagram of the three-dimensional acquisition point set and the obtained three-dimensional point sequence set of the laser trajectory when the surface to be roughened by laser is the surface of a shoe upper in Example 1;

[0051] Figure 4 This is a schematic diagram of the structure in Example 1 where the projection points are triangulated after unfolding.

[0052] Figure 5This is a schematic diagram of the straight line and tangent point where the angle is the starting angle value obtained in Example 1;

[0053] Figure 6 This is a schematic diagram of generating a two-dimensional coverage trajectory in Example 1;

[0054] Figure 7 This is a block diagram of the laser trajectory generation system in Example 2. Detailed Implementation

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0056] Example 1:

[0057] This embodiment discloses a laser trajectory generation method, which can be executed, but is not limited to, by a computer device or virtual machine with certain computing resources, such as by an electronic device like a personal computer, smartphone, personal digital assistant, or wearable device, or by a virtual machine.

[0058] like Figure 1 As shown, a laser trajectory generation method may include, but is not limited to, the following steps:

[0059] S1. Obtain a set of three-dimensional acquisition points; it should be noted that the set of three-dimensional acquisition points includes multiple discrete three-dimensional coordinate points, which are acquisition points of the surfaces to be roughened by laser, such as shoe uppers and soles.

[0060] S2. Based on the set of three-dimensional acquisition points, obtain the triangulated surface corresponding to the set of three-dimensional acquisition points; it should be noted that in this embodiment, the triangulated surface is a surface composed of countless triangles, as an example of a triangulated surface such as... Figure 2 As shown.

[0061] In this embodiment, a triangulated surface corresponding to the three-dimensional acquisition point set is obtained based on the set of three-dimensional acquisition points. Depending on the surface curvature of the surface to be roughened by laser, the following two methods are used:

[0062] Method 1:

[0063] When the surface to be roughened by laser is planar, a triangulated surface corresponding to the three-dimensional acquisition point set is obtained based on the three-dimensional acquisition point set, including:

[0064] Based on the triangulation generation algorithm, all three-dimensional acquisition points in the set of three-dimensional acquisition points are triangulated to obtain a triangulated surface. The triangulation generation algorithm adopts the Lawson algorithm. In this embodiment, the triangulation generation algorithm is based on the Delaunay triangulation idea, but it can also adopt the Bowyer-Watson algorithm, etc.

[0065] Method 2:

[0066] In the set of three-dimensional acquisition points, each three-dimensional acquisition point carries type label information; specifically, such as... Figure 3 As shown, the three-dimensional acquisition point set includes an outer boundary acquisition point set and an inner boundary acquisition point set. The three-dimensional acquisition points in the outer boundary acquisition point set are outer boundary points, and the three-dimensional acquisition points in the inner boundary acquisition point set are inner boundary points. The type marking information is the outer boundary point marking information that matches the outer boundary points in the outer boundary acquisition point set or the inner boundary point marking information that matches the inner boundary points in the inner boundary acquisition point set. It should be noted that in this embodiment, the three-dimensional acquisition point set is obtained through teaching / scanning / acquisition. The outer boundary acquisition point set is used to characterize each acquisition point on the outer contour of the surface to be laser roughened, and the inner boundary acquisition point set is used to characterize each acquisition point on the inner contour of the surface to be laser roughened, such as a hollow area. The three-dimensional acquisition point set contains the three-dimensional coordinates and type marking information of the three-dimensional acquisition points, but does not include the surface information of the region. In this embodiment, during the acquisition of three-dimensional acquisition points, multiple outer boundary points in the outer boundary acquisition point set are acquired in a counterclockwise order, and multiple inner boundary points in the inner boundary acquisition point set are acquired in a clockwise order, thereby marking the outer boundary and inner boundary (hollowed-out area) of the roughened upper area.

[0067] Let P be the outer boundary point in the set of outer boundary collection points. O Let P be the inner boundary point in the set of inner boundary collection points. I Based on the set of three-dimensional acquisition points, a triangulated surface corresponding to the set of three-dimensional acquisition points is obtained, including:

[0068] S201. Set the outer boundary point P O and the inner boundary point P I Plane fitting is performed to obtain the projection plane; in this embodiment, the least squares method is used to combine all peripheral boundary points P. O and inner boundary point P I Perform plane fitting.

[0069] S202. Set the outer boundary point P O and the inner boundary point P I Projecting onto the projection plane yields the outer boundary point P. O Corresponding peripheral projection points and inner boundary point P I Corresponding inner projection points

[0070] S203. Using an inner perimeter projection point As the pole, the inner projection point and an outer projection point Establish a polar coordinate system with the line connecting the two points as the polar axis; and use an inner projection point as the polar coordinate system. As the pole, the inner projection point and an outer projection point Establish a polar coordinate system with the line connecting the points as the polar axis, including: calculating the projection points of each inner perimeter. To each peripheral projection point The distance; based on all distances, obtain the set of inner perimeter projection points with the shortest distance. and peripheral projection points With the inner projection point Let be the extreme point, and let the inner perimeter projection point be . and the outer projection point Establish a polar coordinate system using the line connecting the points as the polar axis. It should be noted that the set of inner perimeter projection points with the shortest distance is used. and peripheral projection points Establishing a polar coordinate system can avoid the outer boundary point P O and inner boundary point P I In cases where points intersect, the relative positions of points in the polar coordinate system and subsequent rectangular coordinate system are more accurate.

[0071] S204. For all inner projection points in the polar coordinate system and peripheral projection points Perform a polar coordinate transformation to obtain the projection points excluding the inner perimeter in a rectangular coordinate system. and peripheral projection points The outer projection points after unfolding; in this embodiment, all inner projection points in the polar coordinate system. and peripheral projection points When performing polar coordinate transformation, first construct a rectangular coordinate system, and then use the inner projection points... and peripheral projection points The radius is the Y-axis coordinate, and the inner projection points are... and peripheral projection points The angular coordinates are the X-axis coordinates, for all inner projection points and peripheral projection points The process involves unfolding the ring-shaped laser working area, which contains hollowed-out regions, into a closed area without hollowed-out regions.

[0072] S205. The unfolded projection points and inner perimeter projection points... and peripheral projection points Triangulation is performed to obtain a triangulated surface. It should be noted that the triangulated surface includes the lines connecting the points and the three-dimensional coordinates of each point.

[0073] In this embodiment, the projection points after unfolding include the projection points of the inner perimeter after unfolding. and the outer projection points after unfolding A schematic diagram of the structure after triangulation of the projected points is shown below. Figure 4 As shown in this embodiment, the projected points after unfolding and the inner perimeter projection points are... and peripheral projection points Triangulation is performed to obtain a triangulated surface, including:

[0074] S2051. Based on the triangulation generation algorithm, the projection points of the unfolded inner perimeter are... and the outer projection points after unfolding Triangulation is performed to obtain the first triangular mesh; the triangulation generation algorithm adopts the Lawson algorithm, but the Bowyer-Watson algorithm, etc., can also be used.

[0075] S2052. On the preset three-dimensional space, take the inner perimeter projection points respectively. Corresponding previous inner projection point and peripheral projection points The corresponding previous outer projection point

[0076] S2053. Take the inner perimeter projection point. Inner perimeter projection point Peripheral projection points and peripheral projection points Construct a triangle from any three projection points in the matrix, and find the smallest circumcircle of the triangle.

[0077] S2054. Determine the inner perimeter projection point Inner perimeter projection point Peripheral projection points and peripheral projection points If the remaining projection points are inside the smallest circumcircle, then re-select the inner projection points. Inner perimeter projection point Peripheral projection points and peripheral projection points Construct a triangle from any three projection points until the remaining projection points are outside the smallest circumcircle, then proceed to the next step; otherwise, proceed to the next step.

[0078] S2055. Use the triangle corresponding to the smallest circumcircle as the second triangle mesh.

[0079] S2056. Combine the first triangular mesh and the second triangular mesh to obtain a triangularized surface.

[0080] S3. Smooth the triangulated surface to obtain a smoothed surface.

[0081] In this embodiment, the triangulated surface is smoothed to obtain a smoothed surface, including:

[0082] S301. Point cloud resampling is performed on the face of each triangular mesh in the triangularized surface to obtain two-dimensional plane sampling points of the triangularized surface; specifically, when resampling the point cloud of each triangular mesh in the triangularized surface, for each triangular mesh, taking the face of the triangular mesh as the XOY plane, two-dimensional plane sampling is performed on the X-axis and Y-axis in units of 0.5, thereby obtaining two-dimensional plane sampling points of the face of the triangular mesh. The two-dimensional plane sampling points of all the faces of the triangular meshes constitute a three-dimensional sampling point set, and all the two-dimensional plane sampling points in the three-dimensional sampling point set are connected to each other by square edges.

[0083] S302. Obtain the three-dimensional coordinates of all two-dimensional plane sampling points to obtain the three-dimensional sampling point set P.

[0084] S303. For each two-dimensional plane sampling point, set a spherical region with radius r centered on the two-dimensional plane sampling point, and obtain the updated coordinates of the two-dimensional plane sampling point. The updated coordinates of any two-dimensional plane sampling point are the average of the three-dimensional coordinates of all two-dimensional plane sampling points within the corresponding spherical region.

[0085] S304. Obtain the smoothed surface based on the updated coordinates of all two-dimensional plane sampling points.

[0086] S4. Based on the smoothed surface, a set of three-dimensional laser trajectory point sequences is obtained. It should be noted that the set of three-dimensional laser trajectory point sequences includes multiple laser trajectory three-dimensional points that are sequentially adjacent from beginning to end, used to characterize the laser position on the surface to be roughened by laser, in order to meet the requirements of laser roughening. The set of three-dimensional laser trajectory point sequences covers the entire area of ​​the surface to be roughened by laser.

[0087] In this embodiment, based on the smoothed surface, a set of three-dimensional point sequences of the laser trajectory is obtained, including:

[0088] S401. Generate a two-dimensional coverage trajectory for the smoothed surface according to preset laser path parameters; in this embodiment, the preset laser path parameters include a starting angle value and an interval value; generating a two-dimensional coverage trajectory for the smoothed surface according to the preset laser path parameters includes: projecting the updated coordinates of all two-dimensional plane sampling points in the smoothed surface onto a preset XOY plane to obtain the tangency point where the smoothed surface is tangent to a line with an angle equal to the starting angle value, such as... Figure 5 The dotted lines in the middle, the points of tangency are as follows Figure 5 Point C in the diagram; starting from the tangent point, generate multiple equidistant straight lines at the same angle, wherein the spacing between the multiple straight lines is a preset interval value; connect adjacent straight lines located on the smoothed surface in sequence to obtain a two-dimensional covering trajectory; specifically, as shown... Figure 6 As shown, adjacent straight lines in the smoothed surface are connected in an S-shape to form a continuous, uninterrupted line.

[0089] S402. The two-dimensional coverage trajectory is sampled at equal intervals to obtain trajectory sampling points.

[0090] S403. Obtain the three-dimensional coordinates of the trajectory sampling points in a preset three-dimensional space, and all three-dimensional coordinates constitute a set of three-dimensional point sequences of the laser trajectory.

[0091] This embodiment can generate a set of three-dimensional point sequences of laser trajectories that match the shape of the surface to be laser-coated, such as shoe uppers and soles. It is suitable for laser coating of objects with curved surfaces, thus improving the laser coating effect. Specifically, in this embodiment, a set of three-dimensional acquisition points of the surface to be laser-coated is first obtained. Then, based on the set of three-dimensional acquisition points, a triangulated surface corresponding to the set of three-dimensional acquisition points is obtained. The triangulated surface is then smoothed to obtain a smoothed surface. Finally, based on the smoothed surface, a set of three-dimensional point sequences of laser trajectories is obtained. This allows the laser emitting device to be driven to perform laser coating on the surface to be laser-coated based on the set of three-dimensional point sequences of laser trajectories. The matching of the laser coating points with the surface results in excellent laser coating effect, which is beneficial for improving the quality of shoe manufacturing.

[0092] Specifically, this embodiment addresses the need for laser roughening of curved surfaces in shoe manufacturing, such as uppers and soles. It proposes a three-dimensional trajectory generation algorithm for laser roughening of uppers with hollowed-out areas. Based on polar coordinate expansion and triangulation, it achieves the effect of generating curved surfaces from three-dimensional point data of the hollowed-out areas. Through a surface smoothing method based on rapid coordinate averaging, it can achieve surface smoothing in real time. Compared with general two-dimensional laser roughening, it has better uniformity and consistency in roughening effect on curved surfaces, ensuring that the peel strength between the upper and sole meets the requirements and has good consistency, thereby improving the quality of shoe manufacturing.

[0093] Example 2:

[0094] This embodiment discloses a laser trajectory generation system for implementing the laser trajectory generation method in Embodiment 1; such as Figure 7 As shown, the laser trajectory generation system includes:

[0095] The contour point acquisition module is used to acquire a set of 3D acquisition points;

[0096] The triangulation module is communicatively connected to the contour point acquisition module and is used to obtain a triangulated surface corresponding to the three-dimensional acquisition point set based on the three-dimensional acquisition point set.

[0097] A surface smoothing module, which is communicatively connected to the triangulation module, is used to smooth the triangulated surface to obtain a smoothed surface.

[0098] The laser point generation module is communicatively connected to the surface smoothing module and is used to obtain a set of three-dimensional point sequences of laser trajectories based on the smoothed surface.

[0099] Example 3:

[0100] Based on Embodiment 1 or 2, this embodiment discloses an electronic device, which may be a smartphone, tablet computer, laptop computer, or desktop computer, etc. The electronic device may be referred to as a terminal, portable terminal, desktop terminal, etc., and includes:

[0101] Memory, used to store computer program instructions; and,

[0102] A processor is configured to execute the computer program instructions to perform the operation of the laser trajectory generation method as described in any of Embodiment 1.

[0103] Example 4:

[0104] Based on any one of the embodiments 1 to 3, this embodiment discloses a computer-readable storage medium for storing computer-readable computer program instructions configured to perform operations as described in Embodiment 1 when executed.

[0105] Obviously, those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device, or fabricating them separately as individual integrated circuit modules, or fabricating multiple modules or steps as a single integrated circuit module. Thus, the present invention is not limited to any particular hardware and software combination.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

[0107] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for generating laser trajectories, characterized in that: 3D trajectory generation for laser roughing of shoe uppers with cutout areas includes: Obtain the set of 3D acquisition points; Based on the set of three-dimensional acquisition points, a triangulated surface corresponding to the set of three-dimensional acquisition points is obtained; The triangulated surface is smoothed to obtain a smoothed surface; Based on the smoothed surface, a set of three-dimensional point sequences of the laser trajectory is obtained; In the set of 3D acquisition points, each 3D acquisition point carries type labeling information; the set of 3D acquisition points includes an outer boundary acquisition point set and an inner boundary acquisition point set, the 3D acquisition points in the outer boundary acquisition point set are outer boundary points, and the 3D acquisition points in the inner boundary acquisition point set are inner boundary points; the type labeling information is either outer boundary point labeling information that matches the outer boundary points in the outer boundary acquisition point set or inner boundary point labeling information that matches the inner boundary points in the inner boundary acquisition point set; Let the outer boundary points in the set of outer boundary collection points be denoted as... The inner boundary points in the set of inner boundary collection points are denoted as... Based on the set of three-dimensional acquisition points, a triangulated surface corresponding to the set of three-dimensional acquisition points is obtained, including: The outer boundary points and the inner boundary points Perform plane fitting to obtain the projection plane; The outer boundary points and the inner boundary points Projecting onto the projection plane yields the outer boundary points. Corresponding peripheral projection points and inner boundary points Corresponding inner projection points ; With an inner projection point As the pole, the inner projection point and an outer projection point Establish a polar coordinate system with the line connecting the two axes as the polar axis; For all inner projection points in the polar coordinate system and peripheral projection points Perform a polar coordinate transformation to obtain the projection points excluding the inner perimeter in a rectangular coordinate system. and peripheral projection points The projection point after unfolding outside; For the unfolded projection points and inner perimeter projection points and peripheral projection points Triangulation is performed to obtain a triangulated surface; The unfolded projection points include the unfolded inner perimeter projection points. and the outer projection points after unfolding ; for the unfolded projection points and inner perimeter projection points and peripheral projection points Triangulation is performed to obtain a triangulated surface, including: Based on the triangulation generation algorithm, the inner perimeter projection points after unfolding are... and the outer projection points after unfolding Triangulation is performed to obtain the first triangular mesh; In the preset three-dimensional space, take the inner perimeter projection points respectively. Corresponding previous inner projection point and peripheral projection points The corresponding previous outer projection point ; Take the inner projection point Inner perimeter projection points , peripheral projection points and peripheral projection points Construct a triangle from any three projection points in the matrix, and find the smallest circumcircle of the triangle; Determine the inner projection point Inner perimeter projection points , peripheral projection points and peripheral projection points If the remaining projection points are inside the smallest circumcircle, then re-select the inner projection points. Inner perimeter projection points , peripheral projection points and peripheral projection points Construct a triangle from any three projection points until the remaining projection points are outside the smallest circumcircle, then proceed to the next step; otherwise, proceed to the next step. Use the triangle corresponding to the smallest circumcircle as the second triangle mesh; The first triangular mesh and the second triangular mesh are combined to obtain a triangularized surface; Based on the smoothed surface, a set of three-dimensional point sequences of the laser trajectory is obtained, including: A two-dimensional coverage trajectory is generated on the smoothed surface according to preset laser path parameters; The two-dimensional coverage trajectory is sampled at equal intervals to obtain trajectory sampling points; The three-dimensional coordinates of the trajectory sampling points in a preset three-dimensional space are obtained, and all three-dimensional coordinates constitute a set of three-dimensional point sequences of the laser trajectory.

2. The laser trajectory generation method according to claim 1, characterized in that: The triangulated surface is smoothed to obtain a smoothed surface, including: Point cloud resampling is performed on the face containing each triangle mesh in the triangular surface to obtain two-dimensional plane sampling points of the triangular surface; Obtain the 3D coordinates of all 2D plane sampling points to obtain the 3D sampling point set. ; For each two-dimensional plane sampling point, a spherical region with radius r is set with the two-dimensional plane sampling point as the center, and the updated coordinates of the two-dimensional plane sampling point are obtained. The updated coordinates of any two-dimensional plane sampling point are the average of the three-dimensional coordinates of all two-dimensional plane sampling points in the corresponding spherical region. The smoothed surface is obtained based on the updated coordinates of all the two-dimensional plane sampling points.

3. A laser trajectory generation system, characterized in that: A laser trajectory generation system for implementing the laser trajectory generation method as described in any one of claims 1 to 2; the laser trajectory generation system comprises: The contour point acquisition module is used to acquire a set of 3D acquisition points; The triangulation module is communicatively connected to the contour point acquisition module and is used to obtain a triangulated surface corresponding to the three-dimensional acquisition point set based on the three-dimensional acquisition point set. A surface smoothing module, which is communicatively connected to the triangulation module, is used to smooth the triangulated surface to obtain a smoothed surface. The laser point generation module is communicatively connected to the surface smoothing module and is used to obtain a set of three-dimensional point sequences of laser trajectories based on the smoothed surface.

4. An electronic device, characterized in that: include: Memory is used to store computer program instructions; as well as, A processor is configured to execute the computer program instructions to perform the operation of the laser trajectory generation method as described in any one of claims 1 to 2.

5. A computer-readable storage medium for storing computer-readable computer program instructions, characterized in that: The computer program instructions are configured to execute the laser trajectory generation method as described in any one of claims 1 to 2 at runtime.

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